单轴测试转台控制.pdf

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中国优秀硕士学位论文全文数据库 2011年第S1期工程科技Ⅱ辑 Chinese Master's Theses Full-text Database 2011,No.S1 Engineering Science and Technology Ⅱ C030-3-1 单轴测试转台控制系统设计李子超学位授予单位: 哈尔滨工业大学; 学科专业: 机械制造及其自动化摘要本文以单轴测试转台为研究背景,在深入分析了采用增量码盘的测角方案与原理的基础上,进行了基于 PC/104 的转台速率、位置及摇摆控制系统的设计,实现了整个转台控制系统的全数字化方案。本文首先根据转台系统性能指标要求和实际情况,采用了码盘信号电子细分的测角方案,从总体上论述了转台的机械组成、控制系统主要元器件及其选择原则,并建立了相关元件的数学模型。着重研究了系统驱动电机、测角反馈元件和功放的选择原则及其数学模型的建立。其次,针对本单轴转台控制系统动态指标要求,本文着重进行了以 PC/104 嵌入式计算机为控制核心的控制系统设计。基于数学模型,用经典控制策略对转台系统进行的校正设计,并进行仿真测试。结果表明,经典 PID 对具有精确数学模型的物理对象能有效地控制,且当对象为非线性时控制效果仍然良好。为了能满足转台低速运行时具有较高的控制精度和静态、动态性能。本文充分结合神经网络和反馈控制的各自优势,提出了一种基于神经网络的 PID 控制器结构。将经典 PID 控制器与神经网络相结合,不仅保持了传统 PID 控制器原理简单、调节方便的特点,又充分利用了神经网络对非线性和时变性的适应能力,为高性能转台的研制提供了有利的尝试。最后,本文完成了本单轴测试转台控制系统的工程实现,包括硬件电路各组成模块的功能介绍及实现方式,重点论述了电机驱动电路、测角电路的设计及控制系统软件的实现。通过理论分析、计算机仿真试验, 充分证明了本文提出的基于神经网络 PID 控制算法的有效性。这对于今后伺服控制系统的设计无疑是一个有价值的参考。关键词：转台;;PC/104;;增量式光电码盘;;神经网络 PID 控制器中图分类号：TH703 Abstract With the research background of single test turntable, this paper study the use of the incremental encoder deeply, as well as the design of the rate, location and swing control system based on the PC/104 to achieve the absolute digital control of the system. Firstly, by the requirements and the actual situation, this turntable system utilized the scheme of fractionizing encoder-signal, generally presenting the mechanical components, control system components and how to choice, and established the relative mathematical model, especially the system drive motors, encoder and power amplifier. Secondly, according to the task of single-axis turntable, this dissertation gives a detailed introduction of the design of control system based on PC/104. By the established model, it also corrects the control system of turntable by PID controllers based on the classical PID control theory. Testing result on the physical system shows that the design can satisfy the criteria in linear and nonlinear range. To meet turntable's control precision request of low-speed moving and have upper static and dynamic capability, sufficiently combining neural networks and feedback control respective advantage, a kind of PID controller structure basing on neural networks was being used. With the integration of classical PID controller and neural network, the system not only maintain the simpleness and convenience of traditional PID controller, but also take full use of the adaptive capacity of the 导师:孙涛；导师单位:哈尔滨工业大学

中国优秀硕士学位论文全文数据库 2011年第S1期工程科技Ⅱ辑 C030-3-2 neural network in nonlinear and variability system, which supplied a beneficial try for the development of high-performance table. In the end, the realization in engineering of this single test table control system was discussed in this paper, including introduction of hardware components and the achievement of their functions, especially the design of Motor drive circuit and angle measurement circuit. Through theory analysis, computer simulation testing, this paper sufficiently proves effective of PID control arithmetic basing on neural network; this is a value reference for the design of control system in future. Key Words：turntable;;PC/104;; incremental photoelectric encoder;; BP Neural Networks PID Controller

第S1期李子超：单轴测试转台控制系统设计 C030-3-3 目录第 1 章绪论 ····················································································································································5 1.1 课题背景················································································································································5 1.2 国内外研究现状及分析 ························································································································6 1.2.1 国外转台的发展概况······················································································································6 1.2.2 国内转台的研究概况······················································································································8 1.2.3 转台研究的发展趋势······················································································································ 10 1.3 本文主要研究内容 ································································································································ 11 第 2 章转台总体设计方案及控制系统建模 ·································································································· 12 2.1 转台的技术要求及机械结构设计 ········································································································· 12 2.1.1 转台技术要求 ································································································································· 12 2.1.2 转台机械结构总体布局及轴系设计 ······························································································ 12 2.2 转台控制系统主要元器件原理及选择 ································································································· 14 2.2.1 测角元件的选择 ····························································································································· 14 2.2.2 驱动元件的选择 ····························································································································· 15 2.2.3 功率放大元件的选择······················································································································ 17 2.3 转台控制系统方案确定及系统模型建立······························································································ 19 2.3.1 转台的数学模型建立······················································································································ 20 2.3.2 电机功率放大器的数学模型·········································································································· 23 2.3.3 测角元件的数学模型······················································································································ 23 2.4 本章小结················································································································································ 23 第 3 章转台控制系统设计及神经网络 PID 控制器的研究·········································································· 24 3.1 速度环控制器设计 ································································································································ 24 3.2 位置环 PID 控制器设计 ······················································································································· 27 3.3 基于 BP 神经网络的 PID 控制器研究及算法实现············································································· 29 3.3.1 数字 PID 控制器原理 ···················································································································· 29 3.3.2 基于 BP 神经网络的 PID 控制理论 ····························································································· 31 3.3.3 基于 BP 神经网络的 PID 控制器应用 ························································································· 33 3.3.4 BP 神经网络 PID 算法实现··········································································································· 34 3.3.5 神经网络 PID 控制器仿真 ············································································································ 35 3.4 本章小结················································································································································ 38 第 4 章转台控制系统的工程实现·················································································································· 39 4.1 硬件电路总体设计 ································································································································ 39 4.1.1 主控模块········································································································································· 39 4.1.2 码盘信号处理模块 ························································································································· 39 4.1.3 数据采集及 D/A 输出模块 ············································································································ 39 4.1.4 电机驱动模块 ································································································································· 39 4.1.5 光电隔离········································································································································· 39 4.2 控制系统主要元器件的选择················································································································· 39 4.2.1 处理器选择····································································································································· 39

中国优秀硕士学位论文全文数据库 2011年第S1期工程科技Ⅱ辑 C030-3-4 4.2.2 I/O 模块选取··································································································································· 41 4.2.3 D/A 模拟量输出模块选取 ·············································································································· 41 4.2.4 液晶模块的选取 ····························································································································· 41 4.3 电机驱动电路的设计 ···························································································································· 42 4.3.1 大功率运放 LM12（L/C/CL）······································································································· 43 4.3.2 功率放大电路的设计······················································································································ 44 4.4 测角电路的设计···································································································································· 44 4.4.1 测角原理及方案确定······················································································································ 44 4.4.2 测角电路的设计 ····························································································································· 46 4.5 系统软件实现········································································································································ 47 4.6 本章小结················································································································································ 48 结论·································································································································································· 49 参考文献 ·························································································································································· 50 附录 1 PCM-3341 PC/104 connecters (CN6) ···································································································· 53 附录 2 功放电路硬件照片 ······························································································································ 54 附录 3 sin 和 cos 两路 1~VPP 信号 A/D 采样电路······················································································ 55 附录 4 粗测角计数脉冲产生电路··················································································································· 56 附录 5 粗测角计数电路 ·································································································································· 57 附录 6 系统测角原理电路图 ·························································································································· 58 附录 7 测角电路硬件电路照片······················································································································· 59 附录 8 控制系统软件流程图 ·························································································································· 60 攻读学位期间发表的学术论文 ······················································································································· 61 简历·································································································································································· 62

第S1期李子超：单轴测试转台控制系统设计 C030-3-5

中国优秀硕士学位论文全文数据库 2011年第S1期工程科技Ⅱ辑 C030-3-6

第S1期李子超：单轴测试转台控制系统设计 C030-3-7

中国优秀硕士学位论文全文数据库 2011年第S1期工程科技Ⅱ辑 C030-3-8

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